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To address these issues, we propose a real-time coarse and fine granularity residual attention (CFRA) grasping detection network. First, to enable the network to detect different sizes of objects, we extract and fuse the coarse and fine granularity features. Then, we refine these fused features by introducing a feature refinement module, which enables the network to distinguish between object and background features effectively. Finally, we introduce a residual attention module that handles different shapes of objects adaptively, achieving refined grasping detection. We complete training and testing on both Cornell and Jacquard datasets, achieving detection accuracy of 98.7% and 94.2%, respectively. Moreover, the grasping success rate on the real-world UR3e robot achieves 98%. These results demonstrate the effectiveness and superiority of CFRA.<\/jats:p>","DOI":"10.1017\/s0263574724001929","type":"journal-article","created":{"date-parts":[[2024,11,28]],"date-time":"2024-11-28T05:31:07Z","timestamp":1732771867000},"page":"415-432","source":"Crossref","is-referenced-by-count":2,"title":["A refined robotic grasp detection network based on coarse-to-fine feature and residual attention"],"prefix":"10.1017","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0009-0002-4094-4914","authenticated-orcid":false,"given":"Zhenwei","family":"Zhu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-4932-1192","authenticated-orcid":false,"given":"Saike","family":"Huang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jialong","family":"Xie","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yue","family":"Meng","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chaoqun","family":"Wang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fengyu","family":"Zhou","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2024,11,28]]},"reference":[{"key":"S0263574724001929_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2852777"},{"key":"S0263574724001929_ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2022.3174274"},{"key":"S0263574724001929_ref9","doi-asserted-by":"crossref","unstructured":"[9] Ramisa, A. , Alenya, G. , Moreno-Noguer, F. and Torras, C. . 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